An Impedance-Controlled Testbed for Simulating Variations in the Mechanical Fit of Wearable Devices
An Impedance-Controlled Testbed for Simulating Variations in the Mechanical Fit of Wearable Devices
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DOI：
10.1109/iros47612.2022.9981391
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Alexander B. Ambrose;Chelse VanAtter;Frank L. Hammond
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文献类型：
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作者：
Alexander B. Ambrose;Chelse VanAtter;Frank L. Hammond
可穿戴设备（诸如假体）的适配可以通过用户-设备界面处的机械耦合来定量地表征。据认为，可穿戴设备接口的机械阻抗，特别是刚度和阻尼，可以显着影响人类在使用它们时的表现。为了测试这一理论，我们开发了一个前臂安装的测试平台，该测试平台具有机动化的两个自由度（2-DOF）万向节，以模拟在指向和目标跟踪任务期间上肢可穿戴设备的机械配合的变化。两个万向节电机是阻抗控制的，以改变用户和设备的激光指示器末端执行器之间的机械刚度和阻尼。在本文中，进行实验，以确定在实验台上实施前的电机的转矩常数，并验证关节阻抗控制器的准确性。完成的阻抗控制的可穿戴接口试验台进行了验证，进一步通过比较万向节关节的位移和扭矩，记录在2自由度的基础激励实验，MATLAB Simulink仿真数据。
The fit of a wearable device, such as a prosthesis, can be quantitatively characterized by the mechanical coupling at the user-device interface. It is thought that the mechanical impedance, specifically the stiffness and damping, of wearable device interfaces can significantly impact human performance while using them. To test this theory, we develop a forearm-mounted testbed with a motorized, two degree of freedom (2-DOF) gimbal to simulate variations in the mechanical fit of an upper-extremity wearable device during pointing and target tracking tasks. The two gimbal motors are impedance-controlled to vary the mechanical stiffness and damping between the user and the device's laser pointer end-effector. In this paper, experiments are conducted to determine the torque constants of the motors before implementation in the testbed, and to validate the accuracy of the joint impedance controller. The completed impedance-controlled wearable interface testbed is validated further by comparing the gimbal joint displacements and torques, recorded during 2-DOF base excitation experiments, to MATLAB Simulink simulation data.